Publication

Synergy-level Grasp Synthesis Learning

Aude Billard
2013
Posters

Abstract

Autonomous grasping is a complex task for robots. It is a high dimensional problem since it involves controlling for the hand position, orientation and joint angles to successfully grasp an object. In order to reduce the control complexity, we adopt a 3-step approach. In the first step, we compute several stable grasps that are adapted to the robotic hand using an optimization technique. In a second step, we extract postural synergies from this grasping data, project the grasps into these synergies subspace, and use this data representation to learn a distribution of the feasible grasps. The third step uses the learned model to generate quickly new grasps for the given object. Our approach was validated on the four degrees of freedom Barrett hand.

Official source

https://infoscience.epfl.ch/entities/publication/bd7dc546-82c4-431f-8d13-47cbdfb2c2e7

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Aude Billard
2013
Posters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/bd7dc546-82c4-431f-8d13-47cbdfb2c2e7

About this result

Related concepts (23)

Robotic arm

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Complexity

Complexity characterises the behaviour of a system or model whose components interact in multiple ways and follow local rules, leading to non-linearity, randomness, collective dynamics, hierarchy, and emergence. The term is generally used to characterize something with many parts where those parts interact with each other in multiple ways, culminating in a higher order of emergence greater than the sum of its parts. The study of these complex linkages at various scales is the main goal of complex systems theory.

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Synergy-level Grasp Synthesis Learning

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